Robotic music store

ABSTRACT

The invention concerns an automated vending system which uses a commercially available, multi-axis robot arm to retrieve an article from a storage location and deliver the article to a customer. The invention includes a control system which interacts with at least three entities: (a) the customers; (b) credit card agencies, as by verifying the customer&#39;s credit situation and by performing daily credit reconciliations; and (c) the control system of the robot arm, as by informing the robot which articles to retrieve. The invention includes a display which provides to the customer a catalog of articles, and allows the customer to choose an article for purchase from the catalog. The invention allows remote control of the vending system, by telephone, whereby the system can be shut down in case of malfunction. If the vending system is used to sell music recordings, the invention allows the customer to hear samples of selected recordings available for sale.

The invention concerns an automated retail store in which a robot doesthe following: deliver merchandise which is ordered by a customer,accept payment (either in cash or by credit card), make change, andperform other functions.

BACKGROUND OF THE INVENTION

In the sale of music recordings, such as long-play records, cassettetapes, and compact discs, a customer typically browses through racks ofrecordings, selects one or more, and carries his selections to anattendant who sells the selections to him. In the present context, thistype of sales procedure involves three important features.

One, the number of recordings which can be stored on a given amount offloor space is limited because the recordings must be easy for thecustomer to both view and grasp. That is, the recordings cannot bestacked floor-to-ceiling. Two, according to some merchandising theories,a customer is more inclined to purchase a product if that product isdisplayed with numerous identical products. Such displays are expensive.Three, the requirement of the attendant imposes an expense, which isfurther increased if 24-hour operation is desired. Moreover, with24-hour operation, the expense of the attendant is disproportionatelyincreased for sales occurring at unusual hours. That is, fewer saleswill be made per hour late at night, yet the cost of an attendant for alate-night hour does not necessarily decrease.

Automated vending equipment can eliminate some of these features.However, many automated vending systems use machinery which is designedfor a specific vending task. This machinery is not easily adaptable toother vending tasks. The custom-designing of such machinery isexpensive.

OBJECTS OF THE INVENTION

It is an object of the invention to provide an improved automatedvending system, having no attendant, and operable 24 hours per day.

It is a further object of the invention to provide an automated vendingsystem which utilizes an articulated robot arm which is commerciallyavailable, thereby eliminating the requirement of designing such an arm.

It is a further object of the invention to provide an automated vendingsystem having a high packing density of articles to be sold.

It is a further object of the invention to provide a vending system inwhich the available quantity of a particular item to be sold is notrelevant to a customer.

SUMMARY OF THE INVENTION

In one form of the invention, a commercially available robotic arm isused to select an article from a collection of articles for sale, and todeliver the selected article to a customer. A control systemcommunicates with the customer, and gives instructions to a secondcontrol system which controls the arm. A particular type of gripper iscarried by the arm for grasping the articles.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a top view of the invention.

FIG. 2 shows a perspective view of racks of boxes of compact discs, eachrack forming one side of a polygon.

FIG. 3 shows a perspective view of one of the racks of boxes.

FIG. 4 shows a perspective view of a robotic arm which positions agripper near a rack, in order to withdraw a box from the rack.

FIG. 5 shows a perspective view of the gripper of FIG. 4.

FIG. 6 is a cross-sectional view of the gripper of FIG. 5, taken in thedirection of arrows 6--6 in FIG. 5.

FIG. 7 is another cross-sectional view of the gripper of FIG. 5, takenin the direction of arrows 7--7 in FIG. 5.

FIG. 8 is a cross-sectional view of the rack of FIG. 3, taken in thedirection of arrows 8--8 in FIG. 3. FIG. 8 shows a drawer 29 whichcarries a box 21.

FIG. 9 is an end-on view of the drawer 29 of FIG. 8, taken in thedirection of arrows 9--9 in FIG. 8.

FIGS. 10-15 are a flow chart describing the operation of the controlsystem used with the invention.

FIG. 16 is an overview of FIGS. 10-15.

FIG. 17A is a schematic view of the belts of the gripper, which graspbox 3.

FIG. 17B is a schematic view of guides associated with the belts of FIG.17A.

FIGS. 18A, 18B, and 18C illustrate a sequence of events occurring whenthe belts of FIG. 17A draw a box 3 between them: the belts spread apart.

FIG. 19 illustrates angular misalignment between the belts and a box 3.

FIG. 20 illustrates horizontal misalignment between the belts and a box3.

FIG. 21 illustrates vertical misalignment between the belts and a box 3.

DETAILED DESCRIPTION OF THE INVENTION Overview

FIG. 4 illustrates a rack 2 of boxes 3, each of which contains a compactdisc (CD) available for purchase by a customer. After the customeridentifies a CD for purchase, a six-axis robot arm 6 positions a gripper9 adjacent the CD's box. The gripper withdraws the box and then depositsit into a chute (not shown) which delivers the box to the customer.

The racks of CD's are arranged in a polygonal array, as shown in FIGS. 1and 2. With this arrangement, each rack provides a planar array of CD'sfor the robotic arm, with each CD having a unique x-y coordinate withinits own rack.

A control system 12 in FIG. 1 controls the operation of the robot arm,and also interacts with the purchaser on matters such as CD selectionand payment. The control system can also follow remote instructionstransmitted by telephone from the owner of the retail store, in order toperform such tasks as transmission of sales data, or de-activatingequipment in the case of malfunction.

The robot is an articulated arm, model S-10, available from GMFRobotics, located in Troy, Mich. This discussion will now consider thesystem in more detail.

THE CD RACKS

The CD's are packaged in rectangular boxes which measure approximately4.9×5.6×0.4 inches. As shown in FIG. 3, the boxes are stored in cellsdefined by guides 15. The guides cooperate to form slots. As shown inFIG. 3, each rack provides a planar array of four boxes across and 107boxes vertically (the exact number stacked vertically is not shown).Several racks are combined into the polygonal shape shown in FIGS. 1 and2.

One reason for using the polygonal shape is that the robot arm isdesigned to accept instructions in terms of x-y coordinates, and not inspherical- or cylindrical coordinates. That is, the robotic arm can beeasily programmed to move the gripper to an x-y coordinate in aspecified plane. Accordingly, each individual rack is arranged topresent a planar array of boxes to the robot.

To initially inform the robot of the location of the plane of each rack,the racks are first set into their final positions and then the gripperis positioned at three known marks on each rack. The three marks definea plane. Since the robot always knows the x-y-z position of the gripper,and since the x-y-z coordinate of each mark, with respect to the rack,is known, the robot thus learns the actual location of the plane of therack. Thus, in effect, the robot acquires an address for each plane.Each box has an address (its x-y coordinate) within each plane.

Each box protrudes from its rack by distance 18 in FIG. 4. Theprotrusion allows a particular gripper 9 to be used to withdraw the box.The gripper is described later.

There are two types of cells holding the CD-boxes, namely, horizontal(or prone) and vertical (or upright) cells. The horizontal cells weredescribed above. The CD-boxes 21 in vertical cells are shown in FIGS. 1and 3. The vertical cells extend from the racks, so that the flatsurfaces of the CD-boxes are visible to a customer located outside anenclosure 23 in FIG. 1. The flat surfaces contain photographs or otheradvertising information regarding the CD contained within the box. Therecording industry devotes considerable attention to the artistic designof the CD-boxes, and the display of the artwork is believed to attractcustomers. Also, the display allows the customers to read the labels ofthe boxes. The labels list the songs contained on the CD.

The vertical CD-boxes 21 are withdrawn differently than are thehorizontal boxes, because the vertical boxes are not only orienteddifferently (vertically, not horizontally) but also located at differentlocations than the horizontal boxes (behind the racks 2, with respect tothe robotic arm).

The vertical boxes 21 are placed on shallow drawer 29 in FIG. 8. Forwithdrawl, the gripper 9 first rotates 90 degrees, in the direction ofarrow 36 in FIG. 4, so that an eylet 33 contained on an arm 30 in FIGS.4, 5, and 7 can engage a stud 34 in FIGS. 4 and 8, which is attached tothe drawer 29 in FIG. 9. After engagement, the robot arm draws thedrawer toward itself, pulling the CD-box 21 to the phantom position inFIG. 8. Then, the robot arm rotates the gripper by 90 degrees to itsoriginal position (i.e., opposite to arrow 36 in FIG. 4), rotates thegripper 90 degrees so that the space between the belts is vertical, andgrasps the CD-box in the usual manner.

The belts are described in the next section. The rotation of the gripperso that the space between the belts becomes vertical (for grasping avertical CD) requires a coordinated movement of several of the robotarms about several axes: rotation about a single axis is not sufficient.However, the robot is designed to execute this maneuver in response tosimple commands: the robot control system coordinates the articulationof the limbs of the arm.

A guide block 37 in FIGS. 4, 7 and 8 facilitates engagement between thestud and the eyelet. The drawer 29 is thinner than the thickness of thebox, as shown in FIG. 9, thus allowing the gripper to grip the box, asthe next section will make clear.

GRIPPER

The gripper is schematically shown in FIG. 17A. Two conveyor belts 200(which are o-rings) are brought into contact with a CD-box 3 by therobot arm (not shown). Just prior to the contact, a motor 201 (not shownin FIG. 17A, but shown in FIG. 5) begins running the conveyor belts.Then, when the belts contact the box, the moving belts draw the box intothe space between them. During motion of the box, two pairs of guiderails 203A and 203B, shown schematically in FIG. 17B and morerealistically in FIGS. 5 and 6, guide the box into channels 206A and206B. When the box has advanced sufficiently far into the channel, themotor shuts off, and the box is held captive by the combined action of(a) the channel walls which it contacts and (b) pressure of the beltsthemselves (which are slightly compressed).

In a sense, the combined action of the belts and channels cradle theCD-box. A "cradle" is formed because the CD-box is restrained againstmotion in all directions except one, namely, motion opposite (i.e., inthe direction of arrow 206) to the insertion motion (subject to frictionof the belts). The slots defined by guides 15 in FIG. 4 can also beviewed as "cradling" the CD-boxes: can move in a single direction,namely, out of the slot, and in no other direction. Thus, in moving theCD-box from one pair of slots to another, the gripper moves a CD-boxfrom one cradle to another.

Two optical sensors 209 and 210 in FIGS. 17A and 4 detect successfulcapture of a box. Sensors such as a diffuse photo sensor, model no. SE612-D, available from Banner Engineering Corp., Minneapolis, Minn., canbe used. Success is deemed to occur when the following sequence occurs:(a) a BOX PRESENT signal from the first sensor 209 (an "entry sensor"),followed by (b) a BOX PRESENT signal from the second sensor 210 (an"arrival sensor"), along with a BOX ABSENT signal from the entry sensor.

If successful capture is not detected, then it is possible that the boxhas jammed in the gripper. Jamming is inferred by a BOX PRESENT signalat the entry sensor 209, together with a BOX ABSENT signal at thearrival sensor 210, with both signals persisting for a pre-set timeduration. (The persistence is required because such a combination ofsignals is momentarily produced during normal box-grasping.) Whenjamming is inferred, an error signal is produced, and the store isclosed: no more customers are serviced.

Alternately, if successful capture has not occurred, but jamming isabsent, it is possible that the box has fallen from the gripper,although dropping has been found to be a very uncommon event. In such acase, the gripper is still functional for withdrawing other boxes. Sucha situation is inferred from a BOX ABSENT signal produced by bothsensors. When a box has been dropped, the control system (laterdescribed) refunds the customer's money for the dropped box, and allowsthe customer to continue with purchases if desired. Alternately, thecustomer can opt to terminate the transaction.

It is possible for the control system to cycle the belts forward andthen backward in order to clear a jam.

The actual belts are carried by floating, spring-loaded sheaves 220 inFIG. 6. The sheaves pivot about pivots 230. The pivoting causes thesequence of events shown in FIGS. 18A-18C to occur. Just prior tocontact with the box 3, the sheaves are in position shown in FIG. 18A.Then, the belts start moving, and the box is drawn between the sheaves,as shown in FIG. 18B. Now, the box forces the sheaves apart, as shown inFIG. 18C. The force of the springs 222 in FIG. 6 causes the sheaves topinch the box.

In FIG. 5, all five sheaves 220 are carried by a common frame 225, whichpivots about pivot axis 230, in order to pinch the box. The oppositeframe 230 pivots in a similar manner.

It is possible to replace the belt-sheave system by individualrubber-tired wheels. However, in such a case, the drive system for themultiple wheels may be more complicated.

CONTROL SYSTEM

A flowchart for the system which controls the robot arm is given inFIGS. 10-15, with an overview given in FIG. 16. In brief, the controlsystem performs three main functions. One, it responds to incomingtelephone instructions. These instructions can order the control systemto (a) transmit reports (such as sales information or data onmalfunctions), (b) accept and store information (such as dates of CDsales), or (c) activate and deactivate the power supply of the store (asin the case of a malfunction).

Two, it performs cash reconciliations at day's end by remotelycommunicating with credit card agencies.

Three, it displays a catalog of available CD's on a customer videodisplay, and takes orders from the customers. It accepts either cashpayments or credit card payments from the customer, and makes change inthe former case. In greater detail, the control system functions asfollows:

Remote Maintenance

Block 50 in FIG. 10 responds to an incoming telephone call, such as fromthe owner of the robotic store. During such a call, the control systemtemporarily closes down the store, and block 53 in FIG. 11 causes thecustomer video display to show a message so indicating. When theincoming caller presents the correct password, the caller reaches block56 in FIG. 12, from which he can initiate any of the actions indicatedby blocks 58, 60, 62, 64, or 66. As these blocks indicate, the callercan learn about the status of the store's equipment (block 58), obtaindata files from the control system (block 60), deliver data files to thesystem (block 62), and activate or deactivate the power supply to thestore (block 62 and 64). When the caller finishes the transaction, thesystem returns to block 89 in FIG. 1.

Daily Credit Reconciliation

Block 70 in FIG. 10 inquires whether the time of day is proper forperforming daily reconciliations of credit card transactions. If so,block 73 in FIG. 14 is reached. Block 76 then inquires, in effect,whether any credit transactions have occurred since the lastreconciliations (which occurred 24 hours ago). If so, the control systemtemporarily closes the store to the public, and block 79 displays amessage on the customer video terminal so indicating.

Block 81 initiates a telephone call to the proper credit data office,and when the call is completed, blocks 83 in FIG. 15 transmit thenecessary credit information. When the reconciliation is complete, block86 leads to block 89 in FIG. 10, which leads to block 92.

Customer Interaction

In brief, the customer can call up a list of CD's available, organizedaccording to categories and by artist; he can generate a list of CD's topurchase; he can modify the list at any time during the transaction; hecan pay by cash or credit card; and he can receive change if he pays bycash.

The block 92 inquires whether a customer has touched the customer videoterminal. If so, then, by the blocks following block 92, the terminaldisplays a request that the customer choose a category of music fromseveral possibilities, such as classical, country-western, etc. Afterthe customer selects a category, the terminal prompts him to enter thename of a recording artist of interest, at block 96 in FIG. 13. As thecustomer enters letters, the display immediately starts to show analphabetical list which begins close (alphabetically) to the lettersentered. After a full name is entered, the display shows part of thealphabetical list, centered about the full name: a few names precedingthe entered name are shown, along with a few names following the enteredname.

Block 98 causes the display to ask the customer whether he wishes topurchase the CD whose name he entered. If he does, then block 101 leadsto financial procedures discussed below. If not, block 103 asks thecustomer whether he wishes to scroll through the alphabetical list, andblock 104 asks whether he wishes to change categories. Blocks 106 allowthe customer to view a list of the CD's which he has tentativelyselected for purchase. If so, block 109 in FIG. 10 is reached, whichallows the customer to modify the list if desired.

Blocks 111 in FIG. 10 ask the customer whether he wishes to pay by cashor credit card. The customer can modify his list of purchases byanswering negatively to both blocks, thereby reaching block 113. He canremove or add CD's on his list in blocks 114 and 115, or he can changethe category in block 113 and return on path 116. When the customer issatisfied with his order list, he exits on line 120 and again reachesblocks 111, wherein he selects his method of payment, which leads him toeither block 130 or 133 in FIG. 11. Again, following these blocks, thecustomer can modify his choices. If he declines modification, he reacheseither block 134 or 135.

If the customer pays by cash, a bill validation system known in the artverifies payment. If by credit card, a magnetic credit card validator,known in the art, reads information from the card presented by thecustomer. In the case of credit payment, block 135 leads to block 136 inFIG. 14, which verified the validity of the credit card, and returns vialine 139.

When payment has been finally made, and the customer finally decides tocomplete the purchase, block 151 is reached, wherein the control systemtransmits the location (i.e., rack number plus x- and y-coordinates) tothe robot system, which retrieves the chosen CD-box and delivers it. Ifthe robot arm was not successful, blocks 154 and 148 refund thecustomer's cash or credit his card account, as proper.

When the purchase is completed, block 161 in FIG. 13 leads to thebeginning, namely, to block 89 in FIG. 10.

An examination of the flowcharts will show that the customer can cancelhis purchase at numerous times during the ordering procedure, and obtaina refund. The customer can also modify his order list at numerous timesduring the transaction.

A person need not make payment to the store in order to view thecatalog. Merely touching the video screen initiates display of thecatalog. Merely touching the video screen initiates display of thecatalog.

SAMPLING OF MUSIC

The store provides a speaker system 300 in FIG. 1 through which acustomer can request samples of music to be played. That is, eachvertical CD 21 displays a number. A keypad 306 is provided, into which acustomer can enter one of the numbers. In response, an apparatus 305plays a brief piece of music contained on the CD selected. One suitablesystem is a Computerized Music Sampling System, available from AdvancedCommunication Design, Inc., located in Bloomington, Minn.

Several significant features of the invention are the following:

One, as stated above, the vertical boxes serve as advertising. However,since they can be fetched by the robot arm, they are available for sale.Thus, the store does not need a supply of dummy boxes for advertisingdisplays, which simplifies business operations.

Two, planar arrays of CD boxes have beed discussed. One definition of"planar array" is that corresponding surfaces on each box lie in acommon plane. For example, surfaces 309 in FIG. 3 lie in a common plane(not shown), and surfaces 310 lie in a different, common plane.

Three, a central axis 250 in FIG. 2 can be defined. The CD-boxes lie atthree or more different radial distances from the central axis, namely,distances 251, 252, and 253.

Four, the two flat surfaces of the vertical CD-boxes are visible tocustomers. This visibility allows the customer to see the list of songscontained on the CD, as well as other information. The horizontal boxesdo not have this visibility: only part of a horizontal box is visible,and the relative visibilities will now be discussed.

As stated above, the boxes are about 4.9×5.6×0.4 inches. Such a box hasthree pairs of surfaces of identical area, namely, two of 27.44 in²(=4.9×5.6); two of 2.24 in² (=5.6×0.4); and two of 1.96 in² (=4.9×0.4).The two surfaces measuring 4.9×5.6 inches are the flat, or broad,surfaces.

The horizontal boxes only display the surface which is 1.96 in², whenthe racks are fully stocked with boxes. In contrast, the vertical boxesdisplay three surfaces, namely, the two broad surfaces, and the surfacewhich is 2.24 in². These three surfaces display an area of27.44+27.44+2.24 in², or a total of 57.12 in². (The display of the0.4×5.6 surface is possibly not significant).

Thus, the vertical boxes display a surface area which is greater by afactor of about 29. Viewed the opposite way, the horizontal boxesdisplay a surface area which is about three percent of the verticalboxes' displayed are (i.e., 1.96/57.12).

It is possible that the box dimensions can be changed such that thevertical boxes display only three times (i.e., 3×) the surface area asthe horizontal boxes. Such would be the case if the boxes were cubical:the "horizontal" boxes would display a single face, and the "vertical"boxes would display three faces. Five, the robotic arm has multiplemotors which move its limbs about the multiple axes. It also has its owncontrol system, including a microprocessor, which coordinatesarticulation of the limbs. The robot also has sensors assoicated witheach axis which read the angular position of each limb, and report thepositions to the control system.

Much of the control system represented by the flowchart of FIGS. 10-15resides in a main computer which is separate from the control system ofthe robotic arm. The main computer communicates with the robot's controlsystem through a standard RS-232 interface. Therefore, in the invention,two different computers are at work. In general, each performs adifferent function.

Six, the particular gripper used accommodates significant misalignmentbetween the gripper and the CD-boxes, yet still allows the box to begrasped. For example, an angular misalignment, shown in FIG. 19, of upto 2.0 degrees can be tolerated. Further, a left-right misalignment,shown in FIG. 20, of 0.125 inch off-center, inch off-center, to eitherside, can be tolerated. Still further, a vertical misalignment of 1/16inch off-center, to either side, shown in FIG. 21, can be tolerated.Further still, any combination of these misalignments can occur, yetsuccessful grasping can still be executed.

Seven, remote actuation and deactuation of the store's power supply hasbeen discussed. In addition, remote actuation and deactuation ofindividual components can be undertaken.

Eight, two belts 200 are used in FIG. 5. However, from one point ofview, one of the belts is redundant: it merely serves to press the box 3against the other belt, and the latter performs the conveying function.Accordingly, it is possible to use a single belt combined with aspring-loaded arm which presses the box against the belt.

Nine, the prone CD-boxes 3 in FIG. 1 can be viewed as forming a firstcollection of planar arrays surrounding axis 250. Each rack 2 forms oneplanar array. The vertical CD-boxes 21 can be viewed as forming a secondcollection of planar arrays, which surrounds the first collection. Thevertical CD-boxes of one rack 2 form a single planar array.

Numerous substitutions and modifications can be undertaken withoutdeparting from the true spirit and scope of the invention as defined inthe following claims. For example, the robotic arm can be programmed toperform a "dance," or other skit of stage entertainment, whileretrieving and delivering the CD, for the amusement of the customer.

We claim:
 1. An automated system for vending recorded music packaged ingenerally flat boxes, comprising:a) an articulated, multi-limbed roboticarm having a control system which controls motion of the limbs inresponse to a command to move the arm to a designated place; b) agripper supported by the arm and having two conveyor belts capable ofpinching one of the boxes therebetween and drawing the box into a pairof channels in the gripper; c) several stacks of horizontal boxes, atleast partially surrounding the robotic arm, with a vertical spacebetween adjacent stacks, the stacks being grouped into planar panels; d)several stacks of vertical boxes, located near respective verticalspaces, but farther from the arm than the horizontal boxes, with movablecarriers associated with at least some vertical boxes for movingvertical boxes into the vertical space for allowing grasping by thegripper; e) communication means for communicating with a customer; f)computation means connected to the communication means and to thecontrol system, fori) allowing a customer to designate boxes forpurchase; ii) ascertaining the location of the designated box, in termsof rack address and x-y position within a rack; iii) informing thecontrol system of the location, and prompting the control system toarticulate the arm in order to position the gripper near the designatedbox; iv) accepting payment from the customer; and v) responding toexternal commands by doing one or more of the following:A) transmittingstored information; B) storing received information; C) terminatingelectric power to a component of the station; or D) connecting electricpower to a component of the station; and g) means for playing samples ofrecorded music which is available for purchase, in response to a requestby a person.
 2. A system according to claim 1 in which the gripperconveyor belts comprises moving surfaces which can grasp and withdraw anarticle from a stored location, without bulk motion of either thegripper or the robotic arm.
 3. A system according to claim 1 in whicheach of the planar panels forms one side of a polygon.
 4. A systemaccording to claim 1 in which the articles are supported by racks, andthe articles rest in two different orientations in the racks.
 5. Asystem according to claim 4 in which the gripper executes one sequenceof actions in grasping articles of the first orientation, and adifferent sequence of actions in grasping articles of the secondorientation.
 6. A system according to claim 4 in which the articulatedarm comprises a plurality of limbs articulated about respective axes,such that movement of several limbs is required to move the gripper from(A) a position for gripping articles of the first orientation to (B) aposition for gripping articles of the second orientation.
 7. A systemaccording to claim 4 in which the gripper means comprises means forrepositioning articles which are vertically oriented, prior towithdrawal of the vertical article.
 8. A system according to claim 1 inwhich the articles of vertical orientation are supported by movablecarriers which can be moved closer to the arm.
 9. A system according toclaim 1 further comprising a sensor on the gripper which produces onetype of signal when an article enters the gripper and a second type ofsignal when the artical has further entered the gripper.
 10. Anautomated system for vending recorded music packaged in generally flatboxes, comprising:a) a multi-limbed robotic arm having a control systemwhich controls motion of the limbs in response to a command to move thearm to a designated place; b) a transport device, supported by the arm,for transporting boxes; c) several stacks of horizontal boxes, orientedadjacent to the robotic arm, wherein the stacks are grouped into planarpanels; d) communication means for communicating with a customer; e)computation means connected to the communication means and to thecontrol system, fori) allowing a customer to designate boxes forpurchase; ii) ascertaining the location of the designated box, in termsof rack address and x-y position within a rack; iii) informing thecontrol system of the location, and prompting the control system to movethe arm in order to position the transport device near the designatedbox; iv) accepting payment from the customer; and v) responding toexternal commands by doing one or more of the following:A) transmittingstored information; B) storing received information; C) terminatingelectric power to a component of the station; or D) connecting electricpower to a component of the station; and f) means for playing samples ofrecorded music which is available for purchase, in response to a requestby a person.
 11. The system of claim 10, wherein the transport deviceincludes a gripper which is comprised of two conveyor belts arranged andconfigured for pinching individual boxes therebetween and drawing thebox into a pair of channels in the gripper.
 12. The system of claim 10,wherein adjacent stacks have vertical spaces located therebetween, andfurther comprising several stacks of vertical boxes, located nearrespective vertical spaces, but farther from the arm than the horizontalboxes, with movable carriers associated with at least some verticalboxes for moving vertical boxes into the vertical space for allowinggrasping by the transport device.
 13. The system of claim 10, whereinthe robot arm is articulated.
 14. An automated system for vendingrecorded music packaged in generally flat boxes, comprising:a) amulti-limbed robotic arm having a control system which controls motionof the limbs in response to a command to move the arm to a designatedplace; b) a transport device, supported by the arm, for transportingboxes; c) a grouping of vertical boxes, located near the robot arm, thevertical boxes being arranged and configured to be grasped by thetransport device; d) communication means for communicating with acustomer; e) computation means connected to the communication means andto the control system, fori) allowing a customer to designate boxes forpurchase; ii) ascertaining the location of the designated box, in termsof rack address and x-y position within a rack; iii) informing thecontrol system of the location, and prompting the control system to movethe arm in order to position the transport device near the designatedbox; iv) accepting payment from the customer; and v) responding toexternal commands by doing one or more of the following:A) transmittingstored information; B) storing received information; C) terminatingelectric power to a component of the station; or D) connecting electricpower to a component of the station; and f) means for playing samples ofrecorded music which is available for purchase, in response to a requestby a person.
 15. The system of claim 14, further comprising severalstacks of horizontal boxes, wherein the horizontal boxes are locatedadjacent to the robotic arm, are cooperatively interspersed with thevertical boxes, and are generally oriented into planar panels.
 16. Thesystem of claim 14, wherein the transport device includes a gripperwhich is comprised of two conveyor belts arranged and configured forpinching individual boxes therebetween and drawing the box into a pairof channels in the gripper.
 17. The system of claim 14, wherein therobot arm is articulated.